Local Pathfinding Enhancements Tracker

[patrick-5546]

Enhancements to our new project over Raye. Some may be solved implicitly as we migrate our codebase, but others will have to be solved explicitly. If a task is solved implicitly, check it off. If planning to solve a task explicitly, convert it to an issue.

• Transfer this issue from the tasks to local_pathfinding repo once it is created

MIgrated from raye-local-pathfinding

Not migrated from raye-local-pathfinding

• Change boat speet during runtime: use ROS parameters?
• Quit faster on CTRL+C: switch from while-loop to rospy.spin()?
• Reproduce run from logs: use ROS bags?
• Behavior at destination (during data collection)
• Set geographical limits on valid paths: is this necessary? Discuss with MECH
  • Consider defining valid waypoints rather than invalid waypoints
• Mock local pathfinding: manually control desired heading